研究者詳細 - 相良　慎一

論文 - 相良　慎一

分割表示146 件中 21 - 40 件目／全件表示 >>

Comparison of position control methods for UVMS using a dual-arm 3-link underwater robot (共著) 査読有り国際誌

Yuki Takazaki, Shinichi Sagara, Yuta Hanazawa, Radzi Ambar

Proceedings of The 26th International Symposium on Artificial Life and Robotics 613 - 618 2021年01月

Design of Rimless Wheel Walking Robots for 3D Printing (共著) 査読有り国際誌

Yuta Hanazawa, Shinichi Sagara

Proceedings of The 26th International Symposium on Artificial Life and Robotics 630 - 633 2021年01月

Design of an impedance controller for an underwater vehicle-manipulator system with a differently-controlled vehicle (共著) 査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 26th International Symposium on Artificial Life and Robotics 624 - 629 2021年01月

Force control of a floating underwater robot equipped with 3-link manipulator (共著) 査読有り国際誌

Taiga Yamasaki, Ryouma Mizoguchi, Yuta Hanazawa, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of The 26th International Symposium on Artificial Life and Robotics 619 - 623 2021年01月

Cooperative manipulation of a floating object by two underwater robots with arms（共著）査読有り国際誌

Sagara S., Takahashi T., Ambar R.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 250 - 255 2021年01月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

日本 Iwaki (Online) 2021年01月11日 - 2021年01月14日

In future ocean development, it is considered that many tasks will be achieved by cooperative motions of several underwater robots. However, no research has been studied on the cooperative work of underwater robots. We have proposed a cooperative control method for space robots. In this paper, as the first step of development of cooperative control methods for underwater robots, our proposed resolved acceleration control method for underwater vehicle-manipulator system is applied to cooperative manipulations of a floating object by underwater robots. To validate the control method, computer simulations are done. The simulation results show the effectiveness of the control method.

DOI： 10.1109/IEEECONF49454.2021.9382631

Scopus

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Development of autonomous underwater vehicle equipped with object recognition and tracking system（共著）査読有り国際誌

Abu Mangshor M.H., Ambar R., Kadir H.A., Isa K., Amran I.Y., Kadir A.A.A., Ibrahim N.S., Choon C.C., Sagara S.

Lecture Notes in Electrical Engineering 666 37 - 56 2021年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The development and design of autonomous underwater vehicle (AUVs) provides unmanned, self-propelled vehicles that are typically deployed from a surface vessel, and can operate independently for periods of a few hours to several days. This project discusses the development of an AUV equipped with object recognition and tracking system. In this project, the motion of AUV is controlled by two thrusters for horizontal motions and two thrusters for vertical motions. A Pixy CMUcam5 is used as a vision sensor for the AUV that is utilized to recognize an object through its specific color signatures. The camera recognizes an object through colour-based filtering algorithm by calculating the colour (hue) and saturations of each red, green and blue (RGB) pixel derived from built-in image sensor. When the camera recognizes an object, the AUV will automatically track the object without any operator. Preliminary underwater experiments have been carried out to test its ability to stay submerge underwater as well as its functionality to navigate and recognize object underwater. Experiments also have been carried out to verify the effectiveness of Pixy CMUcam5 to recognize a single and multiple objects underwater, then tracks the recognize object. This work reports the findings that demonstrate the usefulness of PixyCMUcam5 in the development of the AUV.

DOI： 10.1007/978-981-15-5281-6_4

Scopus

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Model-based motion control for underwater vehicle-manipulator systems with one of the three types of servo subsystems (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 25 ( 1 ) 133 - 148 2020年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2019, International Society of Artificial Life and Robotics (ISAROB). This paper deals with a motion control scheme for underwater robots equipped with manipulators. In general, for each robot, its manipulator is directly driven by electric motors with position sensors such as encoders, whereas its robot body is propelled by marine thrusters with position sensors such as inertial measurement units. It has been pointed out in the literature that for this type of underwater robots, its robot body control is more challenging than its manipulator control, because the robot body has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. Therefore, it may be practically difficult to accurately control the motion of the robot body, even if an advanced control scheme with good performance is implemented in the controller of the robot body. In this paper, we develop a model-based motion controller for the manipulator under the condition that the robot body is independently controlled by a motion controller with poor performance. Its features are to design the manipulator controller in consideration of the dynamics of the robot body including the marine thrusters as well as those of the manipulator, and to be applicable to underwater robots equipped with one of the three types of servo systems (i.e., a voltage-controlled, a torque-controlled, and a velocity-controlled servo system). Some stability properties of the control system were theoretically ensured in the stability analysis. Furthermore, these results were supported by those obtained in numerical simulations.

DOI： 10.1007/s10015-019-00564-8

Scopus

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Position based impedance control of 3-link dual arm underwater robot using resolved acceleration control method for UVMS (共著) 査読有り

Taiga Yamasaki, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of The 25th International Symposium on Artificial Life and Robotics 1020 - 1024 2020年01月

Performance comparison of control methods using a dual-arm underwater robot-Computed torque based control and resolved acceleration control for UVMS- (共著) 査読有り国際誌

Sagara S., Ambar R.

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 1094 - 1099 2020年01月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

アメリカ合衆国 Honolulu 2020年01月12日 - 2020年01月15日

© 2020 IEEE. Most of control methods for Underwater Vehicle-Manipulator Systems (UVMS) have been proposed based on the configuration space consisting of vehicle position and orientation and manipulator joint displacement. Since the vehicle that is the base of the manipulator moves, it is considered that the steady-state error of the manipulator's end-tip remains. The authors have proposed a resolved acceleration control method for UVMS based on the task space consisting of the position and orientation of both the vehicle and end-tip. In this paper, through simulations using a dual -arm underwater robot, we compare our proposed method with a computed torque based control method, which is one of the control methods in the configuration space.

DOI： 10.1109/SII46433.2020.9026221

Scopus

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Resolved acceleration control and sliding mode control of a dual arm underwater vehicle-manipulator system (共著) 査読有り

Hikari Nakano, Shinichi Sagara, Radzi Ambar

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1026 - 1031 2019年01月

Design of two types of kinematic control for an underwater vehicle-manipulator system with a differently-controlled vehicle (共著) 査読有り

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1015 - 1020 2019年01月

Force control of a dual arm underwater vehicle-manipulator system (共著) 査読有り

Yutaka Seki, Yuichiro Taira, Shinichi Sagara, Radzi Ambar

Proceedings of The 24th International Symposium on Artificial Life and Robotics 1032 - 1037 2019年01月

Design of a Motion Controller for an Underwater Vehicle-Manipulator System with a Differently-Controlled Vehicle (共著) 査読有り国際誌

Taira Y., Sagara S., Oya M.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.2 (6 pages) 2018年09月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. This paper deals with a motion control scheme for autonomous underwater robots equipped with manipulators. It is pointed out in the literature on underwater robotics that the robot body propelled by marine thrusters generally has a considerably slower time response than the manipulator driven by electric motors. Moreover, for a real system, it is generally difficult to precisely control the position of a vehicle floating in water by means of hydrodynamic effects produced by the rotations of thrusters' propellers. In this paper, we develop a motion controller for the manipulator in consideration of the thruster dynamics including a control input of the vehicle under the condition that the vehicle is differently controlled by a motion controller that can achieve not a precise control performance but a motion stability in the presence of disturbances such as water waves or a water current.

DOI： 10.1109/ICT-ROBOT.2018.8549894

Scopus

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Resolved Acceleration Control (RAC) of Dual-Arm 3-Link Underwater Robot : Comparison of Control Performance between RAC Method and Computed Torque Method (共著) 査読有り国際誌

Nakano H., Sagara S., Ambar R.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.6 (4 pages) 2018年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. We have proposed a resolved acceleration control method for underwater vehicle-manipulator systems and the effectiveness of the control method have been shown by experiments. In this paper, we compare our proposed method with a computed torque method. Simulation results show that the control performance of our proposed method is better than the conventional computed torque method.

DOI： 10.1109/ICT-ROBOT.2018.8549909

Scopus

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Impedance Control of Dual-Arm 3-link Underwater Robot : In the Case of Grasping a Fixed Object Lightly with One Hand (共著) 査読有り国際誌

Seki Y., Sagara S., Ambar R.

2018 International Conference on Information and Communication Technology Robotics, ICT-ROBOT 2018 FA1.1 (4 pages) 2018年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Korea Busan 2018年09月06日 - 2018年09月08日

© 2018 IEEE. Force control system plays a crucial role in tasks involving Underwater Vehicle-Manipulator System (UVMS) such as object manipulation and interaction with the unstructured underwater environment using robotic manipulators. Force control is necessary to increase the adaptability of UVMS and for reducing unexpected instabilities of the vehicle due to interaction with environment. In previous work, we have developed an impedance-based force control method for a floating UVMS that shows despite the instability of the robot body due to the force exerted on the right manipulator's end-tip, good position control performance was obtained for the left manipulator's end-tip. In this work, we demonstrate the effectiveness of the proposed impedance control method through simulation in the case where the left manipulator of the UVMS is grasping a fixed object lightly, while the right manipulator makes contact with the environment such as a wall. The proposed impedance control is implemented on the right manipulator's end-tip, while the right manipulator's end-tip and robot body are controlled using Resolved Acceleration Control (RAC) method. The simulation results show the effectiveness of the proposed impedance-based force control method.

DOI： 10.1109/ICT-ROBOT.2018.8549882

Scopus

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Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems (共著) 査読有り国際誌

Y. Taira, S. Sagara, M. Oya

Artificial Life and Robotics 23 ( 1 ) 103 - 117 2018年03月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017, ISAROB. This paper deals with a control scheme for autonomous underwater robots equipped with manipulators. Several motion and force controllers have been developed. Most of them were designed in disregard of the dynamics of marine thrusters to develop a controller with a simple structure. However, the robot body propelled by thrusters generally has a considerably slower time response than the manipulator driven by electrical motors. Therefore, it may be difficult to construct a high-gain feedback control system to achieve a good control performance, because the high gain may excite the slow thruster dynamics ignored in the controller design, and the excitation will degrade the control performance. In this paper, we develop a motion and force controller for mathematical models with the dynamics of thrusters. It includes a nonlinear force error filter which allows us to construct a stable motion and force control system. To investigate its control performance, we conducted numerical simulations for comparing the proposed control scheme with an existing control scheme designed in disregard of the thruster dynamics. Simulation results demonstrate the usefulness of the proposed controller.

DOI： 10.1007/s10015-017-0400-3

Scopus

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Impedance control of a 3-link manipulator mounted on position-controlled floating underwater robot by resolved acceleration control method (共著) 査読有り

Yutaka Seki, Yuichiro Taira, Shinichi Sagara, Radzi Ambar

Proceedings of The 23rd International Symposium on Artificial Life and Robotics 648 - 652 2018年01月

Resolved acceleration control of a 3-link dual-arm underwater robot - Simulation for underwater robot gripping fixed underwater object with one hand - (共著) 査読有り

Shingo Yamamoto, Takayuki Kawaguchi, Shinichi Sagara, Radzi Ambar

Proceedings of The 23rd International Symposium on Artificial Life and Robotics 643 - 647 2018年01月

Development of an altitude-keeping system for underwater robots using laser beams（共著）査読有り国際誌

F. Takemura, R. Taba, K. Hirayama, S. Tansuriyavong, K. Kawabata, S. Sagara, K. Ogasawara

Artificial Life and Robotics, Springer 22 ( 4 ) 405 - 411 2017年12月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017, ISAROB. Distribution map of the degree of coral has been developing by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening states while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa Prefecture, Japan. Therefore, the authors have been adopting the image-processing-based distance measurement method using the two laser beams and a monocular camera. It realizes to keep altitude of an underwater robot using such devices. The evaluation experiments of the altitude-keeping system are carried out in the pool.

DOI： 10.1007/s10015-017-0377-y

Scopus

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Improved adaptive lane-keeping control for four-wheel steering vehicles without lateral velocity measurements (共著) 査読有り国際誌

Shu P., Sagara S., Wang Q., Oya M.

International Journal of Robust and Nonlinear Control 27 ( 17 ) 4154 - 4168 2017年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

Copyright © 2017 John Wiley & Sons, Ltd. Previously, we developed an adaptive lane-keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane-keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.

DOI： 10.1002/rnc.3824

Scopus

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